import os

import launch_ros.actions
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource


#def launch(launch_descriptor, argv):
def generate_launch_description():
    bringup_dir = get_package_share_directory('turn_on_bichon')
    launch_dir = os.path.join(bringup_dir, 'launch')

    bichon_robot = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'turn_on_bichon.launch.py')),
    )

    bichon_mera = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bichon_mera.launch.py')),
    )
    return LaunchDescription([
        bichon_robot,bibichon_ra,

        launch_ros.actions.Node(
            package='simple_follower_ros2',
            executable='visualtracker',
            name='visualtracker',
             ),
        launch_ros.actions.Node(
            package='simple_follower_ros2',
            executable='visualfollow',
            name='visualfollow',
            output='screen',
            ),]

    )
